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Curs 10.
Metode numerice de rezolvare a ecuaiilor
difereniale i a sistemelor de ecuaii difereniale
cu aplicaii n ingineria electric
Modelul matematic
Analiza stabilitii la mari perturbaii se face prin integrarea ecuaiei
difereniale de micare a ansamblului rotoarelor generatorului i turbinei:
d
2
dt
1
= ( Pm Pe H )
M
Ecuaia diferenial se poate scrie sub forma unui sistem de dou ecuaii difereniale de
ordinul nti:
d
=
dt
d = 1 ( Pm Pe H )
d t M
unde variabila independent este timpul t, iar puterea electric are expresia:
Pe = Pe1 + Pe2 sin ( )
unde Pe1, Pe2 i sunt constante, avnd valorile dependente de parametrii elementelor de sistem
i de regimul de funcionare a sistemului!!!
0 = ( t 0 )
0 = ( t 0 )
[rad]
0.38
0.34
0.30
t [s]
0
0.5
1.5
2.5
t [s]
0.00
-0.10 0
0.5
1.5
2.5
-0.20
y' = f ( x , y)
y( x 0 ) = y 0
Demonstratia 1. Pe tabl!!
Pentru n = 2
h
y1 = y0 + h ( f + ( f x + f f y ))
2
h
yi +1 = yi + h ( f + ( f x + f f y ))
2
f
fx =
x
f
fy =
y
yi +1 = yi + h f ( xi , yi ) i = 0,1,...
xi < < xi +1
,
Interpretare geometric:
se alege un pas de integrare h astfel nct intervalul de definiie
[x0, b] s fie mprit n pai egali:
b x0
h=
n
y' = f ( x , y)
i avem i curba soluiei
y( x 0 ) = y 0
y = y( x )
y = yi + ( x xi ) y ' ( x)
y ' ( x) = f ( xi , yi )
xi = x0 + i h
y' = f (x, y )
y (x 0 ) = y 0
i = 1,2,..., n
y i+1 = y i + a 0 k 0 + a 1 k1 + ... + a n k n
.
y i+1 = y i + a 0 k 0 + a 1 k1 + ... + a n k n
k 0 = h f (x i , y i )
k1 = h f (x i + 1 h, y i + 10 k 0 )
k 2 = h f (x i + 2 h, y i + 20 k 0 + 21 k1 )
...............................................................
k n = h f (x i + n h, y i + n 0 k 0 + n1 k1 + ... + n ,n 1 k n 1 )
Particulariznd parametrul n determinm diverse formule de tip Runge Kutta:
y i +1 = y i + h f (x i , y i )
k 0 = h f (x i , y i )
y i +1 = y i +
1
(k 0 + k 1 )
2
k 1 = h f (x i + h , y i + k 0 )
h
y i +1 = y i + [f (x i , y i ) + f (x i + h , y i + h f (x i , y i ))]
2
k 0 = h f (x i , y i )
1
y i +1 = y i + (k 0 + 4k 1 + k 2 )
6
k0
h
k1 = h f x i + , y i +
2
2
k 2 = h f (x i + h , y i + 2 k 1 k 0 )
4. n=3 (Runge Kutta de ordin IV), y0 dat y i +1 = y i +
k 0 = h f (x i , y i )
k1
h
k 2 = h f x i + , yi +
2
2
1
(k 0 + 2k 1 + 2k 2 + k 3 )
6
k0
h
k1 = h f x i + , y i +
2
2
k 3 = h f (x i + h, y i + k 2 )
Adams Bashforth
Adams Moulton
Predictor - corector Hamming
y'
f ( x, y ) := x + 0.1 y
a := 0 b := 3
0
fx( x, y ) :=
h :=
ba
x ia valori pe [0;1]
N
\\ conditia initiala a ecuatiei diferentiale de ordinul I
x := a + h i
d
f ( x, y )
dx
N := 100
y := 1
i := 0 .. N
y ( 0)
fy ( x, y ) :=
d
f ( x, y )
dy
i+ 1
:= y + h f x , y +
i
y =
0
( i i)
(( ) ( ) (
)) \\ formula de aproximare
fx x , y + f x , y fy x , y
i i
i i
i i
2
a functiei necunoscute;
10
0.5
1.5
x
2.5
y'
y ( 0)
f ( x, y ) := x + 0.1 y
a := 0
x ia valori pe [0;1]
b := 1
N := 100
y := 1
i := 0 .. N
x := a + h i
i
h :=
ba
N
y =
i+ 1
( i i)
:= y + h f x , y
i
\\ formula de aproximare
\\ rezultate numerice
1.617
1.8
1.6
1.4
1.2
0
0
0.2
0.4
0.6
x
0.8
1
1
d
r i + L i
dt
Curentul este format din doua componente una stationara si una tranzitorie.
i
ist + itr
d
L i U ri
dt
di
dt
U ri
U ir Ae
i I 1 e
ist
U
r
r
itr
U
r
Valori numerice:
L := 0.001
[H]
[ ]
r := 0.1
:=
U := 10
[V]
= 0.01
r
ist ( t) :=
U
r
t
itr ( t) :=
U
r
[s]
Curentul total:
i( t) := ist ( t) + itr ( t)
100
t := 0 , 0.0001.. 0.08
tau ( t) :=
ist ( t)
0.02
100
comp stationara
comp tranzitorie
curentul total
const de timp
0.04
0.06
0.08
42.082
i ist + itr
ist + Ae
50
i st( t , )
i tr( t , )
i( t , )
0.01
0.02
0.03
0.04
0.05
0.06
30.331 50
0
comp stationara
comp tranzitorie
curentul total
0.06
2. Circuitul din figura de mai jos functioneaza in regim permanent cu intrerupatorul K deschis. Sa se determine
variatia in timp a curentului din bobina, in urma scurtcircuitarii rezistorului R.1. Se precizeaza valorile numerice
ale parametrilor circuitului si a sursei de alimentare.
=>
R := 10
100.323
150
125
100
u( t )
75
50
25
0
0
0
6
t
10
10
d
L i + R i
dt
T0 := 2.5 sec
( )
u T0
i0 :=
R + R1
i0 = 1.438
u ( t)
0
C. Desi solutia analitica a ecuatiei diferentiale descrise anterior se cunoaste,
mai intai se va solutiona problema printr-o metoda numerica de integrare
aproximativa, numita Runge-Kutta de ordinul 4. Scopul acestei alternative este
de a prezenta o varianta complet bazata pe calcule numerice la varianta tratarii
analitice.
Se scrie derivata curentului in functie de celelalte marimi din ecuatie; se
ataseaza membrului drept al ecuatiei o functie de variabile timpul si curentul
electric; se conditioneaza perioada de simulare, incepand de la comutarea
intrerupatorului si un pas de discretizare a timpului de calcul; un set de formule
numite Runge-Kutta intra intr-o formula recursiva de aproximare a formei de
variatie a curentului electric.
d
i
dt
f ( x, y ) :=
u( t)
L
u ( x)
L
R
L
R
L
=>
f ( t , i) :=
u ( t)
L
R
L
(functia atasata)
T0 := 2.5 sec
M :=
Tf := 6
Tf T0
h
sec
M = 350
h := 0.01
i := 0 .. M
x := T0 + h i
i
y := i0
0
k0( x, y ) := h f ( x, y )
k0( x, y )
h
k1( x, y ) := h f x + , y +
2
2
k1( x, y )
h
k2( x, y ) := h f x + , y +
2
2
k3( x, y ) := h f x + h , y + k2( x, y )
i+ 1
:= y +
i
1
6
( (
k0 x , y + 2 k1 x , y + 2 k2 x , y + k3 x , y
i i
i i
i i
i i
))
10
8
y
i0
4
2
2.5
3.5
4.5
5.5
x, T 0
f ( x, y ) :=
1
2
t i := 0
tf := 1
h := 0.01
1+ x
N :=
tf ti
h
N = 100 n := 1 .. N
Punctul de pornire: x := ti
0
Ultimul punct calculat:
x := x + n h
n
x =1
N
= 2.192
r := 0 , 5 .. N y := 1
0
y := y
n
n 1
( n1 , yn1)
+ h f x
r=
0
5
10
15
20
25
30
35
40
45
50
55
60
65
70
75
x =
y =
0.05
1.051
0.1
1.104
0.15
1.16
0.2
1.217
0.25
1.276
0.3
1.337
0.35
1.399
0.4
1.461
0.45
1.525
0.5
1.588
0.55
1.652
0.6
1.715
0.65
1.778
0.7
1.84
0.75
1.901
2.192
2.5
2
yn
1.5
1.01
0.5
0.01
xn
f ( x, y ) :=
t i := 0
t f := 1
1+ x
N := 1000
i := 0 , 100 .. N
D ( x, Y ) := f x, Y
Y
val := 1
0
S := rkfixed ( val , t i , t f , N , D )
X := S
= 2.193
X =
i =
2.5
2
Yi
1.5
0.5
Xi
Y := S
i
Y =
i
100
0.1
1.105
200
0.2
1.218
300
0.3
1.338
400
0.4
1.463
500
0.5
1.59
600
0.6
1.717
700
0.7
1.842
800
0.8
1.964
900
0.9
2.081
110 3
2.193
f ( x, y ) := 1 x + 4 y
N :=
tf ti
t i := 0
t f := 1
N = 100
y := 1
0
Conditia initiala:
h := 0.01
n := 1 .. N
x := t i
0
xn := x + n h
0
Notam:
K2( x, y ) := f x +
K1( x, y ) := f ( x, y )
K3( x, y ) := f x +
h
2
,y +
h
2
h
2
,y +
h
2
K1( x, y )
y n := y
n 1
h
6
K1 x
r := 0 , 10 .. N
r =
xr =
) + 2 K2( x 1 , y 1) ...
) + K4( x 1 , y 1)
,y
n 1 n 1
+ 2 K3 xn 1 , y n 1
y N = 64.898
yr =
10
0.1
1.609
20
0.2
2.505
30
0.3
3.83
40
0.4
5.794
50
0.5
8.712
60
0.6
13.053
70
0.7
19.516
80
0.8
29.145
90
0.9
43.498
100
64.898
100
50
0.5
x
t f := 1
D ( x, Y) := f x, Y
0
YN = 64.898
N := 1000
S := rkfixed val, t i , t f , N , D
40
20
0
1
Y := S
0
X := S
Xi =
i =
60
val := 1
0
80
i := 0 , 100 .. N
0.5
X
Yi =
100
0.1
1.609
200
0.2
2.505
300
0.3
3.83
400
0.4
5.794
500
0.5
8.712
600
0.6
13.053
700
0.7
19.516
800
0.8
29.145
900
0.9
43.498
110 3
64.898
y0( 0)
d
y1( x)
dt
y1( 0)
d
y2( x)
dt
y2( 0)
5 Y 0 + Y 1 + Y 2
D ( x , Y ) := 3 Y 0 2 Y 0 Y 2
2 Y 0 Y 1 6 Y 2
1
Y0 := 0
x0 := 0
x1 := 10
N := 500
Matricea solutiei:
S := Rkadapt ( Y0 , x0 , x1 , N , D )
x := S
0.02
0.04
0.06
0.08
S = 1
1 0.888
0.79
0.705
0 0.092
0.17
0.237
0.1
0.12
0.14
0.16
0.18
0.2
0.631
0.566
0.51
0.461
0.418
0.381
0.349
0.294
0.344
0.386
0.424
0.457
0.486
0.512
x =
0
T
y1 =
0 0.092
0
T
y2 =
0
T
1 0.888
10
y0 =
-0.46 -0.401
7
n := 10
y0 := 1.5
h :=
k := 0 .. n
y =
0
1.5
10
0.5
xk
yk
L( t) :=
if i
i
=
0
8.618
k,1,
t xi
yk
xk xi
L( xk) =
10
L ( t)
5
1.5
0.5
t,x
yk =
1.5
1.5
1.6
1.6
1.726
1.726
1.885
1.885
2.092
2.092
2.367
2.367
2.747
2.747